Quasi-SMC based on MPC for a constrained continuous-time nonlinear system with external disturbances

Meng, Hua

doi:10.48550/arxiv.2205.02418

Cited by 1 publication

(1 citation statement)

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“…Mousavi et al 34 studied that sliding mode control (SMC) can resist system uncertainties or external disturbances along a predetermined sliding surface. Meng 35 created second order SMC as a solution to this challenge for controlling space manipulator. A lot of processing is required to have such a capability, which restricts its application to real-time control issues (particularly for high-speed operations).…”

Section: Introductionmentioning

confidence: 99%

Optimum joint and trajectory tracking control of multi-axes space manipulator based on amnesia feedback controller

Shrivastava

Dalla

Abhishek

2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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The space manipulators operate in an unstructured or unknown environment, increasing the dynamic complexity of space manipulator. Due to disturbance in manipulator base, the trajectory tracking control issue arises that cause error between reference and actual trajectory. Hence, to sort out these issues, this work presents optimum joint and trajectory tracking control of multi-axes space manipulator based on amnesia feedback controller. Firstly, the dynamic model of a 7DOF space manipulator built on Euler-Lagrange theorem, using the Jacobian matrix of individual link is designed. Later on, the Amnesia controller strategy is implemented that keeps a record of the trajectory tracking error and sends them to the robot tip. Compared to PID control scheme, the rising time, settling time, and overshoot is reduced even further when amnesia controller is used. The trajectory deviation using PID controller is 15°, while it is 3° using Amnesia controller, as expected. Hence, Amnesia controller reduces the trajectory tracking error between reference and actual trajectory of the redundant robot. The effectiveness of the proposed methodology employing a redundant 7DOF space robot has been verified. This proposed scheme can be utilized for on-orbit servicing and space debris removal through space craft.

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Section: Introductionmentioning

confidence: 99%